Local positioning system with multiple observing points and generation of zooming effect

This paper deals with the position measurement system, which can be shared by multiple robots. This system is supposed to be applied to the multiple automated vehicles in the work with cooperative manipulation, or to the robots working in the wide and open field, or to the flight system and so on. We solved this problem by using the concept of “advanced active sensing system”, and in practice we proposed “enclosing signal field” for two-dimensional position measurement in the previous paper. In this paper, we consider the generalized location of the sending devices and multiple sensors. And precise measurement using both luminance ratio adjusting and initial phase shifting is presented. First, we propose the method to compose the enclosing signal field for multiple observing points in this paper and consider the property of this field by analyzing measurement equation. Next, we apply this field to precise position measurement by using zooming technique. Finally, the experimental results of zooming measurement are shown